Toyota C-HR (2023 year). Manual in english

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4-5. Using the driving support systems

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■

Situations in which the system may not operate properly

●

In some situations such as the following, an object may not be detected by
the radar sensor and front camera, preventing the system from operating
properly:
• When a detectable object is approaching your vehicle
• When your vehicle or a detectable object is wobbling
• If a detectable object makes an abrupt maneuver (such as sudden swerv-

ing, acceleration or deceleration)

• When your vehicle approaches a detectable object rapidly

• When a detectable object is near a wall, fence, guardrail, manhole cover,

vehicle, steel plate on the road, etc.

• When a detectable object is under a structure
• When part of a detectable object is hidden by an object, such as large

baggage, an umbrella, or guardrail

• When there are many things which can reflect the radio waves of the

radar in the vicinity (tunnels, truss bridges, gravel roads, snow covered
road that have tracks, etc.)

• When there is an effect on the radio waves to the radar that is installed on

another vehicle

• When multiple detectable objects are close together
• If the sun or other light is shining directly on a detectable object
• When a detectable object is a shade of white and looks extremely bright
• When a detectable object appears to be nearly the same color or bright-

ness as its surroundings

• If a detectable object cuts or suddenly emerges in front of your vehicle
• When the front of your vehicle is hit by water, snow, dust, etc.
• When a very bright light ahead, such as the sun or the headlights of

oncoming traffic, shines directly into the front camera

• When approaching the side or front of a vehicle ahead
• If a vehicle ahead is a motorcycle
• If a vehicle ahead is narrow, such as a personal mobility vehicle
• If a preceding vehicle has a small rear end, such as an unloaded truck

• When a detectable object is not

directly in front of your vehicle

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4-5. Using the driving support systems

• If a vehicle ahead is carrying a load which protrudes past its rear bumper

• If a vehicle ahead is irregularly shaped, such as a tractor or side car

• For region A: If a vehicle ahead is a child sized bicycle, a bicycle that is

carrying a large load, a bicycle ridden by more than one person, or a

uniquely shaped bicycle (bicycle with a child seat, tandem bicycle, etc.)

• For region A: If a pedestrian/or the riding height of a bicyclist ahead is

shorter than approximately 1 m (3.2 ft.) or taller than approximately 2 m

(6.5 ft.)

• For region A: If a pedestrian/bicyclist is wearing oversized clothing (a rain

coat, long skirt, etc.), making their silhouette obscure

• For region A: If a pedestrian is bending forward or squatting or bicyclist is

bending forward

• For region A: If a pedestrian/bicyclist is moving fast

• For region A: If a pedestrian is pushing a stroller, wheelchair, bicycle or

other vehicle

• When driving in inclement weather such as heavy rain, fog, snow or a

sandstorm

• When driving through steam or smoke

• When the surrounding area is dim, such as at dawn or dusk, or while at

night or in a tunnel, making a detectable object appear to be nearly the

same color as its surroundings

• When driving in a place where the surrounding brightness changes sud-

denly, such as at the entrance or exit of a tunnel

• After the hybrid system has started the vehicle has not been driven for a

certain amount of time

• While making a left/right turn and for a few seconds after making a left/

right turn

• While driving on a curve and for a few seconds after driving on a curve

• If your vehicle is skidding

• If a preceding vehicle has a low rear

end, such as a low bed trailer

• If a vehicle ahead has extremely high

ground clearance

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• If the wheels are misaligned

• If a wiper blade is blocking the front camera

• The vehicle is being driven at extremely high speeds

• When driving on a hill

• If the radar sensor or front camera is misaligned

• For region A: When driving in a traffic lane separated by more than one

lane where oncoming vehicles are driving while making a right/left turn

• If the front of the vehicle is raised or

lowered

• For region A: When largely out of

place with the opposite facing tar-
geted oncoming vehicle during a
right/left turn

• For region A: While making a right/left

turn, when a pedestrian approaches
from behind or side of your vehicle

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4-5. Using the driving support systems

●

For region A: In addition to the above, in some situations, such as the fol-

lowing, the emergency steering assist may not operate.
• For region A: When the white (yellow) lane lines are difficult to see, such

as when they are faint, diverging/merging, or a shadow is cast upon them

• For region A: When the lane is wider or narrower than normal

• For region A: When there is a light and dark pattern on the road surface,

such as due to road repairs

• For region A: When a pedestrian is detected near the centerline of the

vehicle

• For region A: When the target is too close

• For region A: When there is insufficient safe or unobstructed space for

the vehicle to be steered into

• For region A: If oncoming vehicle is present

• For region A: If VSC function is operating

●

In some situations such as the following, sufficient braking force or steering

force

(for region A) may not be obtained, preventing the system from per-

forming properly:
• If the braking functions cannot operate to their full extent, such as when

the brake parts are extremely cold, extremely hot, or wet

• If the vehicle is not properly maintained (brakes or tires are excessively

worn, improper tire inflation pressure, etc.)

• When the vehicle is being driven on a gravel road or other slippery sur-

face

• When the road surface has deep wheel tracks

• When driving on a hill road

• When driving on a road that has inclines to the left or right

■

If VSC is disabled

●

If VSC is disabled (



P. 533), the pre-collision brake assist and pre-collision

braking functions are also disabled.

●

The PCS warning light will turn on and “VSC Turned Off. Pre-Collision Brake

System Unavailable.” will be displayed on the multi-information display.

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LTA (Lane Tracing Assist)



While  driving  on  a  road  with  clear  white  (yellow)  lane  lines,  the LTA
system  warns  the  driver  if  the  vehicle  may  deviate  from  the  current
lane  or  course

, and also can slightly operate the steering wheel to

help avoid deviation from the lane or course

. Also, while the dynamic

radar cruise control with full-speed range is operating, this system will
operate the steering wheel to maintain the vehicle’s lane position.
The LTA system recognizes white
(yellow) lane lines or a course

using the front camera. Addition-
ally, it detects preceding vehicles
using the front camera and radar.

: Boundary between asphalt and the

side of the road, such as grass, soil,
or a curb



: If equipped

Summary of functions

WARNING

■

Before using LTA system

●

Do not rely solely upon the LTA system. The LTA system does not auto-
matically drive the vehicle or reduce the amount of attention that must be
paid to the area in front of the vehicle. The driver must always assume full
responsibility for driving safely by paying careful attention to the surround-
ing conditions and operating the steering wheel to correct the path of the
vehicle. Also, the driver must take adequate breaks when fatigued, such
as from driving for a long period of time.

●

Failure to perform appropriate driving operations and pay careful attention
may lead to an accident, resulting in death or serious injury.

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WARNING

■

Situations unsuitable for LTA system

In the following situations, use the LTA switch to turn the system off. Failure
to do so may lead to an accident, resulting in death or serious injury.

●

Vehicle is driven on a road surface which is slippery due to rainy weather,
fallen snow, freezing, etc.

●

Vehicle is driven on a snow-covered road.

●

White (yellow) lines are difficult to see due to rain, snow, fog, dust, etc.

●

Vehicle is driven in a temporary lane or restricted lane due to construction
work.

●

Vehicle is driven in a construction zone.

●

A spare tire, tire chains, etc. are equipped.

●

When the tires have been excessively worn, or when the tire inflation pres-
sure is low.

●

When your vehicle is towing a trailer or during emergency towing

■

Preventing LTA system malfunctions and operations performed by
mistake

●

Do not modify the headlights or place stickers, etc. on the surface of the
lights.

●

Do not modify the suspension etc. If the suspension etc. needs to be
replaced, contact any authorized Toyota retailer or Toyota authorized
repairer, or any reliable repairer.

●

Do not install or place anything on the hood or grille. Also, do not install a
grille guard (bull bars, kangaroo bar, etc.).

●

If your windshield needs repairs, contact any authorized Toyota retailer or
Toyota authorized repairer, or any reliable repairer.

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WARNING

■

Conditions in which functions may not operate properly

In the following situations, the functions may not operate properly and the
vehicle may depart from its lane. Drive safely by always paying careful
attention to your surroundings and operate the steering wheel to correct the
path of the vehicle without relying solely on the functions.

●

When the follow-up cruising display is displayed (



P. 394) and the pre-

ceding vehicle is swaying. (Your vehicle may sway accordingly and depart
from the lane.)

●

When the follow-up cruising display is displayed (



P. 394) and the pre-

ceding vehicle departs from its lane. (Your vehicle may follow the preced-
ing vehicle and depart from the lane.)

●

When the follow-up cruising display is displayed (



P. 394) and the pre-

ceding vehicle is being driven extremely close to the left/right lane line.
(Your vehicle may follow the preceding vehicle and depart from the lane.)

●

Vehicle is being driven around a sharp curve.

●

When the follow-up cruising display is
displayed (



P. 394) and the preceding

vehicle changes lanes. (Your vehicle
may follow the preceding vehicle and
also change lanes.)

●

Objects or patterns that could be mis-
taken for white (yellow) lines are pres-
ent on the side of the road (guardrails,
reflective poles, etc.).

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4-5. Using the driving support systems

WARNING

●

There are shadows on the road that run parallel with, or cover, the white
(yellow) lines.

●

The vehicle is driven in an area without white (yellow) lines, such as in
front of a tollgate or checkpoint, or at an intersection, etc.

●

The white (yellow) lines are cracked, “Raised pavement marker” or stones
are present.

●

The white (yellow) lines cannot be seen or are difficult to see due to sand,
etc.

●

The vehicle is driven on a road surface that is wet due to rain, puddles,
etc.

●

Vehicle is driven where the road
diverges, merges, etc.

●

Repair marks of asphalt, white (yellow)
lines, etc. are present due to road
repair.

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WARNING

●

The traffic lines are yellow (which may be more difficult to recognize than
lines that are white).

●

The white (yellow) lines cross over a curb, etc.

●

The vehicle is driven on a bright surface, such as concrete.

●

If the edge of the road is not clear or straight.

●

The vehicle is driven on a surface that is bright due to reflected light, etc.

●

The vehicle is driven in an area where the brightness changes suddenly,
such as at the entrances and exits of tunnels, etc.

●

Light from the headlights of an oncoming vehicle, the sun, etc. enters the
camera.

●

The vehicle is driven on a slope.

●

The vehicle is driven on a road which tilts left or right, or a winding road.

●

The vehicle is driven on an unpaved or rough road.

●

The traffic lane is excessively narrow or wide.

●

The vehicle is extremely tilted due to carrying heavy luggage or having
improper tire pressure.

●

The distance to the preceding vehicle is extremely short.

●

The vehicle is moving up and down a large amount due to road conditions
during driving (poor roads or road seams).

●

When driving in a tunnel or at night with the headlights off or when a head-
light is dim due to its lens being dirty or it being misaligned.

●

The vehicle is struck by a crosswind.

●

The vehicle is affected by wind from a vehicle driven in a nearby lane.

●

The vehicle has just changed lanes or crossed an intersection.

●

Tires which differ by structure, manufacturer, brand or tread pattern are
used.

●

When tires of a size other than specified are installed.

●

Snow tires, etc. are equipped.

●

The vehicle is being driven at extremely high speeds.

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■

Lane departure alert function

When  the  system  determines
that  the  vehicle  might  depart
from  its  lane  or  course

, a

warning is displayed on the
multi-information display, and a
warning buzzer will sound to
alert the driver.

When the warning buzzer sounds,
check the area around your vehicle
and  carefully  operate  the  steering
wheel to move the vehicle back to
the center of the lane.
Vehicle  with  BSM:  When  the  sys-
tem  determines  that  the  vehicle
might depart from its lane and that
the possibility of a collision with an
overtaking  vehicle  in  the  adjacent
lane  is  high,  the  lane  departure
alert  will  operate  even  if  the  turn
signals are operating.

: Boundary between asphalt and the side of the road, such as grass, soil, or

a curb

Functions included in LTA system

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■

Steering assist function

When  the  system  determines
that  the  vehicle  might  depart
from  its  lane  or  course

, the

system provides assistance as
necessary by operating the
steering

wheel

small

amounts for a short period of
time to keep the vehicle in its
lane.

Vehicle  with  BSM:  When  the  sys-
tem  determines  that  the  vehicle
might depart from its lane and that
the possibility of a collision with an
overtaking  vehicle  in  the  adjacent
lane  is  high,  the  steering  assist
function  will  operate  even  if  the
turn signals are operating.

: Boundary between asphalt and the

side of the road, such as grass, soil,
or a curb

■

Vehicle sway warning function

When  the  vehicle  is  swaying
within  a  lane,  the  warning
buzzer  will  sound  and  a  mes-
sage  will  be  displayed  on  the
multi-information display to alert
the driver.

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■

Lane centering function

This  function  is  linked  with
dynamic  radar  cruise  control
with  full-speed  range  and  pro-
vides  the  required  assistance
by operating the steering wheel
to keep the vehicle in its current
lane.

When dynamic radar cruise con-
trol  with  full-speed  range  is  not
operating,  the  lane  centering
function does not operate.
In  situations  where  the  white
(yellow) lane lines are difficult to
see  or  are  not  visible,  such  as
when  in  a  traffic  jam,  this  func-
tion will operate to help follow a
preceding vehicle by monitoring
the  position  of  the  preceding
vehicle.

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■

Turning the lane centering function ON/OFF

Press the LTA switch.

The lane centering function will change between ON/OFF each time the
switch is pressed.
The current setting will be displayed on the multi-information display.

■

Turning the LTA system OFF

Press and hold the LTA switch

The LTA indicator light turns off when the LTA is turned OFF.
Press the switch again to turn the system on.
The LTA is turned ON each time the power switch is turned to ON mode.
However, the lane centering function keeps either the ON/OFF state prior
to the power switch being turned off.

LTA system setting



Lane centering function ON



Lane centering function OFF

LTA

Steering Assist Active

Lane Centering Active

LTA

Steering Assist

active.

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4-5. Using the driving support systems

LTA indicator

The  illumination  condition  of  the
indicator  informs  the  driver  of  the
system operation status.
Illuminated in white:
LTA system is operating.
Illuminated in green:
Steering  wheel  assistance  of  the
steering  assist  function  or  lane
centering function is operating.
Flashing in orange:
Lane departure alert function is operating.

Operation display of steering wheel operation support

Displayed when the multi-information display is switched to the driving
assist system information display.
Indicates that steering wheel assistance of the steering assist function or
lane centering function is operating.
Both outer sides of the lane are displayed: Indicates that steering wheel
assist of the lane centering function is operating.
One outer side of the lane is displayed: Indicates that steering wheel assist
of the steering assist function is operating.
Both outer sides of the lane are flashing: Alerts the driver that their input is
necessary to stay in the center of the lane (lane centering function).

Indications on multi-information display

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Lane departure alert function display

Displayed when the multi-information display is switched to the driving
assist system information display.

: Boundary between asphalt and the side of the road, such as grass, soil, or

a curb

Follow-up cruising display
Displayed when the multi-information display is switched to the
driving assist system information display.

Indicates that steering assist of the lane centering function is operating by
monitoring the position of a preceding vehicle.
When the follow-up cruising display is displayed, if the preceding vehicle
moves, your vehicle may move in the same way. Always pay careful atten-
tion to your surroundings and operate the steering wheel as necessary to
correct the path of the vehicle and ensure safety.



Inside of displayed lines is
white



Inside of displayed lines is
black

Indicates that the system is recog-
nizing white (yellow) lines or a
course

When

the

vehicle

departs  from  its  lane,  the  white
line  displayed  on  the  side  the
vehicle  departs  from  flashes
orange.

Indicates that the system is not
able to recognize white (yellow)
lines or a course

or is temporar-

ily canceled.

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■

Operation conditions of each function

●

Lane departure alert function
This function operates when all of the following conditions are met.
• LTA is turned on.
• Vehicle speed is approximately 50 km/h (32 mph) or more

• System recognizes white (yellow) lane lines or a course

. (When a white

[yellow] line or course

is recognized on only one side, the system will

operate only for the recognized side.)

• Width of traffic lane is approximately 3 m (9.8 ft.) or more.
• Turn signal lever is not operated. (Vehicle with BSM: Except when

another vehicle is in the lane on the side where the turn signal was oper-
ated)

• Vehicle is not being driven around a sharp curve.
• No system malfunctions are detected. (



P. 399)

: The function operates even if the vehicle speed is less than approxi-

mately 50 km/h (32 mph) when the lane centering function is operating.

: Boundary between asphalt and the side of the road, such as grass, soil,

or a curb

●

Steering assist function
This function operates when all of the following conditions are met in addi-
tion to the operation conditions for the lane departure alert function.
• Vehicle is not accelerated or decelerated by a fixed amount or more.
• Steering wheel is not operated with a steering force level suitable for

changing lanes.

• ABS, VSC, TRC and PCS are not operating.
• TRC or VSC is not turned off.
• Hands off steering wheel warning is not displayed. (



P. 398)

●

Vehicle sway warning function
This function operates when all of the following conditions are met.

• Setting for “Sway Warning” in

on the multi-information display is set

to “ON”. (



P. 786)

• Vehicle speed is approximately 50 km/h (32 mph) or more.
• Width of traffic lane is approximately 3 m (9.8 ft.) or more.
• No system malfunctions are detected. (



P. 399)

Toyota C-HR (2023 year). Manual in english - page 19